Map Annotation Modification Using Sparse Pose Graph Node Updates

1. A method comprising: receiving a first pose graph associated with first map data, the first pose graph comprising a first set of nodes indicating one or more of a position or orientation of a vehicle traversing an environment and the first map data comprising a map element indicating a first location of an object in the environment; receiving a second pose graph; determining a source node of the first pose graph associated with the map element; determining an association of a target node of the second pose graph with the source node; determining a transformation between the source node and the target node; modifying, as a modification based at least in part on the transformation, the map element to determine an updated map element of second map data; determining, based at least in part on at least one of the modification or the transformation, a stress; determining that the stress is less than a threshold stress; and transmitting, based at least in part on determining that the stress is less than the threshold stress, the updated map element to the vehicle or another vehicle to traverse the environment based at least in part on the updated map element.

2. The method of claim 1, wherein determining the stress associated with a location in the environment is based at least in part on at least one of: determining whether the transformation meets or exceeds a transformation threshold; determining a variance associated with one or more transformations within a threshold distance of the location; determining a weight based at least in part on a distance between the map element and the source node; a loss determined by a loss function based at least in part on at least one of the transformation or a difference between the transformation and another transformation; an output of an optimization transforming two or more source nodes; determining that a number of additional source nodes used to determine the modification meets or exceeds a threshold; or determining a difference between the transformation and the modification.

3. The method of claim 1, wherein the map element is a first element and the method further comprises: determining a stress map based at least in part on interpolating a second stress value based at least in part on the stress and one or more other stress values; determining that the second stress value meets or exceeds the threshold stress; determining a second map element or a location in the environment is associated with the second stress value; and based at least in part on determining that the second stress value meets or exceeds the threshold stress at least one of: generating a notification associated with the second map element or the location in the environment; reverting a second modification associated with the second map element; or altering the second modification.

4. The method of claim 1, wherein the modification comprises: determining a first weight based at least in part on a first distance between the map element and the source node, wherein modifying the map element is further based at least in part on the first weight.

5. The method of claim 1, wherein determining the source node associated with the map element further comprises at least one of: determining a set of source nodes within a predefined distance of the first location of the map element; or determining n nearest source nodes to the first location of the map element, where n is a positive integer.

6. The method of claim 1, wherein the modifying results in an alteration to at least one of the first location of the map element or a size of a dimension of the map element.

7. A system comprising: one or more processors; and a memory storing processor-executable instructions that, when executed by the one or more processors, cause the system to perform operations comprising: receiving a first pose graph associated with first map data; receiving a second pose graph; determining a source node of the first pose graph, the source node associated with a map element of the first map data; determining an association of a target node of the second pose graph with the source node; determining a transformation between the source node and the target node; modifying, as a modification based at least in part on the transformation, the map element to determine an updated map element of second map data; determining, based at least in part on at least one of the modification or the transformation, a stress; determining that the stress is less than a threshold stress; and transmitting, based at least in part on determining that the stress is less than the threshold stress, the updated map element to a vehicle to traverse an environment based at least in part on the updated map element.

8. The system of claim 7, wherein determining the stress associated with a location in the environment is based at least in part on at least one of: determining whether the transformation meets or exceeds a transformation threshold; determining a variance associated with one or more transformations within a threshold distance of the location; determining a weight based at least in part on a distance between the map element and the source node; a loss determined by a loss function based at least in part on at least one of the transformation or a difference between the transformation and another transformation; an output of an optimization transforming two or more source nodes; determining that a number of additional source nodes used to determine the modification meets or exceeds a threshold; or determining a difference between the transformation and the modification.

9. The system of claim 7, wherein the map element is a first map element and the operations further comprise: determining a stress map based at least in part on interpolating a second stress value based at least in part on the stress and one or more other stress values; determining that the second stress value meets or exceeds the threshold stress; determining a second map element or a location in the environment is associated with the second stress value; and based at least in part on determining that the second stress value meets or exceeds the threshold stress at least one of: generating a notification associated with the second map element or the location in the environment; reverting a second modification associated with the second map element; or altering the second modification.

10. The system of claim 7, wherein the modification comprises: determining a first weight based at least in part on a first distance between the map element and the source node, wherein modifying the map element is further based at least in part on the first weight.

11. The system of claim 10, wherein determining the first weight is based at least in part on a robust loss function.

12. The system of claim 7, wherein determining the source node associated with the map element further comprises at least one of: determining a set of source nodes within a predefined distance of a first location of the map element; or determining n nearest source nodes to the first location of the map element, where n is a positive integer.

13. The system of claim 7, wherein the modifying results in an alteration to at least one of a first location of the map element or a size of a dimension of the map element.

14. The system of claim 7, further comprising: determining a second modification for a second map element based at least in part on a second transformation between a second source node and a second target node; determining, based at least in part on at least one of the second transformation or the second modification, a second stress associated with the second modification; determining that the second stress meets or exceeds a threshold stress; and based at least in part on determining that the second stress meets or exceeds the threshold stress at least one of: generating a notification associated with the second map element or a location in the environment; reverting a second modification associated with the second map element; or altering the second modification.

15. The system of claim 14, further comprising: receiving user input associated with the second map element; and determining an alteration to the second modification based at least in part on the user input.

16. The system of claim 7, wherein the first pose graph is determined based at least in part on first sensor data received from one or more sensors of the vehicle or another vehicle and the second pose graph is determined based at least in part on second sensor data received from the one or more sensors.

17. A non-transitory computer-readable medium storing processor-executable instructions that, when executed by one or more processors, cause the one or more processors to perform operations comprising: receiving a first pose graph associated with first map data; receiving a second pose graph; determining a source node of the first pose graph, the source node associated with a map element of the first map data; determining an association of a target node of the second pose graph with the source node; determining a transformation between the source node and the target node; modifying, as a modification based at least in part on the transformation, the map element to determine an updated map element of second map data; determining, based at least in part on at least one of the modification or the transformation, a stress; determining that the stress is less than a threshold stress; and transmitting, based at least in part on determining that the stress is less than the threshold stress, the updated map element to a vehicle to traverse an environment based at least in part on the updated map element.

18. The non-transitory computer-readable medium of claim 17, wherein determining the stress associated with a location in the environment is based at least in part on at least one of: determining whether the transformation meets or exceeds a transformation threshold; determining a variance associated with one or more transformations within a threshold distance of the location; determining a weight based at least in part on a distance between the map element and the source node; a loss determined by a loss function based at least in part on at least one of the transformation or a difference between the transformation and another transformation; an output of an optimization transforming two or more source nodes; determining that a number of additional source nodes used to determine the modification meets or exceeds a threshold; or determining a difference between the transformation and the modification.

19. The non-transitory computer-readable medium of claim 17, wherein the map element is a first map element and the operations further comprise: determining a stress map based at least in part on interpolating a second stress value based at least in part on the stress and one or more other stress values; determining that the second stress value meets or exceeds the threshold stress; determining a second map element or a location in the environment is associated with the second stress value; and based at least in part on determining that the second stress value meets or exceeds the threshold stress at least one of: generating a notification associated with the second map element or the location in the environment; reverting a second modification associated with the second map element; or altering the second modification.

20. The non-transitory computer-readable medium of claim 17, further comprising: determining a second modification for a second map element based at least in part on a second transformation between a second source node and a second target node; determining, based at least in part on at least one of the second transformation or the second modification, a second stress associated with the second modification; determining that the second stress meets or exceeds a threshold stress; and based at least in part on the second stress meeting or exceeding the threshold stress, at least one of: generating a notification associated with the second map element or a location in the environment; reverting a second modification associated with the second map element; or altering the second modification.